CN114633021A - Laser welding method and device for real-time vision acquisition - Google Patents
Laser welding method and device for real-time vision acquisition Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
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Abstract
The invention provides a laser welding method and a device thereof with real-time vision acquisition, which are characterized in that images in the welding process are collected in real time, then the collected image information is processed, analyzed and calculated to obtain the deviation between the actual welding track and the required welding track, and then the welding track is adjusted in real time according to the deviation, so that the problem of time delay in the prior art adopting the vision positioning technology is solved. And the running time of the welding track is balanced with the calculation time of the calculated offset, the fusion depth variation, the welding track and the output power, so that the problems of low welding precision and unattractive welding seams caused in the offset correction process are further solved. Meanwhile, the device, the electronic equipment and the storage medium comprising the method are also provided.
Description
Technical Field
The disclosure relates to the technical field of laser, in particular to a laser welding method and a laser welding device for real-time vision acquisition.
Background
At present, with the development and progress of scientific technology, the combination of laser technology and automation technology is more and more compact. In the past, when a laser technology is used for material processing, manual intervention is often needed or the next operation is carried out after manual operation is needed. The mode not only influences the production rhythm in the operation process, but also influences the processing precision of the product due to the adoption of human eyes for observation and operation. It is therefore becoming more and more important to develop a laser technology that can automatically identify a work area or a work point and automatically process a material.
The publication number is: the patent application of CN214721448U discloses a flat copper wire laser welding tool for a flat motor stator, wherein a spring is used for simultaneously clamping two pairs of flat copper wires, each radial flat copper wire can be respectively clamped by the spring force without mutual influence, and the phenomenon that part of flat copper wires cannot be completely clamped due to poor consistency of the flat copper wires can be avoided; the laser welding device is used in cooperation with laser welding, the flat copper wire and the welding tool are not moved during welding, the track of laser is changed through the swing of the vibrating mirror, so that multiple points can be welded at one time, and the welding quality and the qualified rate are improved.
The publication number is: the patent application of CN211465184U discloses a coaxial marking welding system in LV340 galvanometer, constitutes a coaxial laser welding system jointly through LED annular light source, field lens, galvanometer system, CCD focusing mirror, CCD camera, light path keysets etc. makes laser system can initiatively fix a position the angle and the position of product target through coaxial mode, realizes accurate marking and welding.
In the above-mentioned patent publication, for example, in patent CN214721448U, the laser galvanometer technique is used to adjust the angle and position of laser emission, but the adjustment process is not controlled, and the precision and accuracy in the laser processing process cannot be guaranteed; in patent CN211465184U, a mode of capturing a light beam and coaxial laser is adopted, so that a laser system can be autonomously positioned, and positioning is more accurate mainly in a processing process by a mode of coaxial vision system and laser system, but no further research is performed on internal control logic, and a certain time delay exists in the positioning process and precision, thereby affecting the processing precision.
Therefore, in the existing visual positioning laser technology, although the accuracy in the processing process can be improved through the coaxial technology, in the actual production process, because the scanning field amplitude of the internal vibrating mirror of the laser welding head is large, the real-time performance in the laser processing process can be influenced due to the delay of the correction time and the deviation between the laser system and the capture system in the laser system processing process, and the precision of the laser processing is influenced.
Disclosure of Invention
The invention provides a laser welding method and a device thereof with real-time visual acquisition, aiming at the technical problem of low welding precision caused by deviation between an image capturing system and a laser welding system and delay of action time in the laser welding technology adopting visual positioning, and improving the welding precision in the laser welding process, thereby improving the reliability of products with higher requirements on the welding precision.
One of the concepts of the present disclosure is to couple the optical path of the image capturing system with the optical path of the laser welding system, so as to achieve at least partial optical path coaxiality between the laser welding system and the image capturing system, thereby improving the processing precision in the laser welding process.
Specifically, in the conventional visual positioning laser technology, a welding point in the welding process is positioned by adopting a paraxial visual positioning mode. In the paraxial visual positioning technology, a certain deviation exists between the laser welding system and the image capturing system in the operation process. Although the image capturing system can move synchronously with the movement of the laser welding system, in the actual moving process, due to the deflection of light or the small-range displacement generated by the vibration of components of the image capturing system and the laser welding system in the operation process, the position between the laser welding system and the image capturing system can be deviated, and the position deviation causes the deviation of a positioning result of the image capturing system in the process of calculating and correcting the coordinates of the image acquisition and analysis of the welding point, so that the processing precision in the welding process is influenced. In addition, in the conventional paraxial vision acquisition, two or more vision acquisition devices are often needed to acquire images of a breadth formed by scanning of a galvanometer so as to meet the requirement on processing precision; meanwhile, in the process of visual acquisition, images are often acquired after welding is finished. The paraxial vision acquisition has great defects in equipment cost and timeliness, and is difficult to meet the requirements of quick positioning and real-time welding.
The optical path of the image capturing system is coupled with the laser optical path of the laser welding system, the problem of visual acquisition deviation caused by equipment, welding procedures, environment and the like in the paraxial visual acquisition process can be avoided through the coupling of the optical path, and the welding precision in the laser welding process is improved.
Further, another concept of the present disclosure is to capture an image of a laser welding in real time by an image capturing system, and calculate an offset amount and/or a penetration change amount of the laser welding based on the captured real-time image. And calculating and updating the welding track of the laser in real time according to the welding offset, and ensuring the welding precision of the laser welding technology of real-time visual acquisition.
Specifically, corresponding welding tracks can be preset in the laser welding process, when welding is carried out according to the preset welding tracks, whether the laser head carries out welding according to the preset tracks in the welding process needs to be known, therefore, an image capturing system needs to be introduced to monitor the welding tracks, the offset of the tracks is determined according to captured image information, and then the welding tracks are corrected. After the offset correction is performed each time, welding is performed according to a predetermined welding track. It can be seen from the prior art welding system that at least the following drawbacks are included: this modification causes, on the one hand, a delay in the laser welding process and, on the other hand, an inadequate output of power to the welding zone during the modification time. Thereby influencing the welding precision and the weld pool quality in the laser welding process of visual positioning.
In the scheme of the disclosure, the image capturing system is coaxial with at least part of the light path of the laser welding system, so that a welding track image can be captured in real time in the image capturing process, information such as offset, fusion depth, welding track and the like can be calculated in real time, and a preset welding track is corrected according to the offset detected in real time to form a new welding track for ensuring the welding precision in the laser welding process.
Further, another concept of the present disclosure is to analyze and calculate parameters such as an offset amount, a penetration variable, and a welding trajectory in a laser welding system based on image information acquired by an image capturing system, and to control a welding program of the laser system to ensure continuity in the laser welding process.
Specifically, because the conventional visual positioning method is to perform laser welding according to a preset welding track after offset correction, the phenomenon of discontinuity in the laser welding process can be caused, and the welding quality and the attractiveness of a welding seam are affected. The image capturing system can capture the welding track and the fusion depth in real time, calculate the offset, and feed back the information to the laser welding system, so that the power and the welding track in the laser welding process are properly adjusted and corrected. Therefore, the offset can be collected in real time in the process that the laser runs according to the welding track, and the next laser welding process is corrected according to the new welding track and power calculation completed in the running time, so that the continuous combination between the previous running track and the next running track of the laser is realized, and the welding precision in the laser welding process is ensured.
Further, another concept of the present disclosure is that the image capturing system analyzes and calculates the offset and the penetration variable during the laser welding process according to the real-time captured image information, determines the time variable corresponding to the offset and/or the penetration variable, and adjusts and corrects the laser welding system according to the welding track offset, the penetration variable and the time variable corresponding thereto, thereby further ensuring the real-time performance and the precision during the laser welding process.
Specifically, in the laser welding process, since the image capturing system needs a certain time for image capturing, image processing and calculation, after the image capturing system obtains the final calculation result, a time difference exists between the calculation result and the laser welding system in a feedback manner, and the image capturing system and the laser welding system cannot perform analysis feedback in the welding process immediately and use the feedback result for controlling the welding process. Therefore, the time that the laser travels along the set trajectory in the present disclosure should be delayed from the calculated time. The laser welding method ensures that the welding track and the power of the laser are corrected in real time in the process of running according to the track, and the time variable is taken as one of corrected parameters, so that the precision of laser welding is improved.
Further, another concept of the present disclosure is that the laser welding system determines the first time of operation of the next laser trajectory according to the offset, the penetration variable, and the time variable corresponding to the offset and/or the penetration variable, so as to further improve the precision of laser welding.
Specifically, in the actual welding process of the laser, due to the influence of the operating environment and the equipment, the offset is different in different time periods, and if the laser is welded according to the same track operating time, the welding precision will be influenced by the inconsistency of the offset. Therefore, the laser welding system in the disclosure determines the running time of the next section of laser track according to the offset, the penetration variable and the time variable corresponding to the offset and/or the penetration variable, and further improves the precision of laser welding.
Further, another concept of the present disclosure is that the time for acquiring the offset in real time is changed according to the running time of the laser welding track, thereby ensuring that the time for acquiring the offset in real time can meet the requirement during the laser welding process.
Specifically, in the actual welding process of the laser, because the time of each section of the operation track changes along with the change of the offset, the offset is acquired in real time, and the time for determining the next section of the laser operation track correspondingly changes, so that the calculation of the operation track time of the next section of the laser is finished in the laser operation time, and the welding precision of the real-time visual acquisition laser welding is improved.
The present disclosure provides a laser welding method and apparatus with real-time vision acquisition, wherein the method includes:
the image capturing means that the image capturing system captures the welding information in real time in an image information mode when the laser welding system runs according to the welding track;
determining welding variation, wherein the welding variation refers to calculating the actual welding condition in the welding process and calculating the variation of the actual welding and a preset welding process by extracting and analyzing the image information acquired by the image capturing system;
and re-determining the welding program, wherein the re-determined welding program is a welding program for correcting the actual welding condition of the laser welding system according to the determined welding variation and enabling the welding program to be corrected to a preset program. (ii) a
And laser welding, wherein the laser welding system welds the welding material according to the determined welding program again.
Based on the technical scheme, the offset is collected in real time in the laser welding process, and meanwhile, the welding track of the next section is updated in real time according to the offset, so that the operation of the welding track of the previous section is coherent with the operation of the welding track of the next section, and the reduction of the welding precision caused by lag and time delay in the laser welding process is eliminated.
Further, the welding procedure comprises welding track and/or welding penetration;
in some embodiments, the laser welding method with real-time visual acquisition further includes: coupling a laser welding system and an image capture system;
the laser welding system and the image capturing system are coupled, namely, a laser light path and a light path for visual collection are coupled before laser welding, so that the two light paths are coaxial.
The optical path coaxial means that at least part of the optical path between the laser welding system and the image capturing system is coaxial.
Based on the technical scheme, the coupling between the laser system and the capture system is realized, and the light beam of the laser and the light beam between the capture systems are coaxial. The laser system and the capturing system are synchronized in a light beam coaxial mode, so that unnecessary deviation in the process of capturing images in real time can be effectively eliminated; and on the other hand, the time delay of the laser system in the correction process can be reduced.
In another embodiment, in the laser welding method with real-time visual acquisition, the determining the offset welding variation includes determining a trajectory offset and/or a penetration variation;
extracting and analyzing image information obtained by capturing the image, and calculating the fusion depth variation among different welding points in the welding process;
the offset refers to the offset variable quantity of the actual welding and the preset welding track in the welding process by extracting and analyzing the image information acquired by the image capturing system.
In some embodiments, in the laser welding method with real-time visual acquisition, the output power of the laser system is adjusted according to the real-time penetration variation, and the penetration depth of the weld joint is controlled according to the adjustment of the output power, so that the attractiveness and the quality of welding are improved. Specifically, when the penetration deepens, the output power of laser is immediately reduced, otherwise, the output power of laser is improved, and through the change of the output power, the penetration is ensured to be within a required range, the welding strength of a welding structure is improved, and a welding seam is more attractive.
In some embodiments, in the laser welding method with real-time visual acquisition, the laser welding trajectory is determined again according to the real-time welding trajectory offset, and the determined trajectory is made to approach the preset welding trajectory according to the adjustment of the actual laser welding trajectory.
In some embodiments, the method for laser welding with real-time visual acquisition is characterized by:
the welding track also comprises a preset welding track and an initial welding track;
the preset welding track is determined according to welding requirements;
the initial welding track refers to a first section of welding track running according to the preset welding track.
And the welding track offset is obtained according to the comparison between the first section of welding track and the preset welding track.
And determining the welding track again according to the track offset and the preset welding track.
And carrying out laser welding timely according to the determined welding track again.
Based on the technical scheme, the welding track is provided with a preset welding track and an initial welding track, and the preset welding track is the basis for updating the welding track in real time according to the offset. On the basis of the preset welding track, a new correction track is formed to solve the technical problem that the welding precision is reduced due to offset in the laser welding process. Meanwhile, on the basis of the preset welding track, the method has an initial welding track and is used for collecting the first offset to form a closed loop, so that the purposes of updating the welding track in real time and improving the laser welding precision are achieved.
In yet another embodiment, the laser welding method with real-time visual acquisition, the re-determining the welding track comprises determining the welding time;
the welding time refers to the time of the laser running according to the welding track;
and the welding time of the laser welding system is longer than the time for determining the welding track offset and the fusion depth variation by the image capturing system.
Based on the technical scheme, the welding track deviation and/or the fusion depth variation are calculated in real time according to the image collected by the image capturing system during the laser welding process according to the running time of the welding track, and the welding track time of the next section is determined. Only when the operation time of the welding track is longer than the determined time of the offset and/or the fusion depth variation of the welding track, the next updated welding track can be operated after the operation according to the welding track is finished, so that the continuity between the upper and lower welding tracks is ensured, and the aim of further improving the laser welding precision is fulfilled.
In some embodiments, the method for laser welding with real-time visual acquisition is characterized in that the welding time at least comprises a first welding time and a second welding time;
the first welding time refers to the time for a laser of a laser welding system to operate according to the welding track when the offset and/or the penetration variation of the welding track are within an allowable range;
and the second welding time is the welding time when the welding track offset and/or the penetration variation exceeds the allowable range, and the laser welding system corrects the preset welding program trace according to the welding track offset and/or the penetration variation and determines the welding time of the corrected welding track again.
Based on the technical scheme, when the offset meets the actual production, the first welding time is used for operating the corresponding laser welding track. When the offset exceeds a certain limit value, in order to ensure the welding precision, the welding operation time of the next welding track is controlled by adopting the second welding time, so that the welding precision is prevented from being greatly influenced by overlong operation time of the next welding track.
In some embodiments, the real-time vision-acquired laser welding method comprises: the method also comprises at least a first operation time and a second operation time;
wherein the first operation time refers to the time for determining the offset and/or the melting depth variation;
the second calculation time refers to the time for determining the welding track and/or the output power;
wherein the first calculation time and the second calculation time are changed according to a second welding time.
Based on the technical scheme, the welding time can be corrected according to the offset. Therefore, in the welding process, the time for calculating the offset and/or the fusion depth variation and determining the next section of welding track also needs to be adapted to the real-time correction of the welding time, so that after the preset welding track is operated in the time, the next section of welding track can be operated, the continuity in the welding process is ensured, and the precision of laser welding is improved.
In another embodiment, the laser welding device further comprises a device for applying the laser welding method with real-time visual acquisition, wherein the device comprises:
an image capture component for capturing real-time information during a laser welding process;
the laser welding assembly is used for welding a welding material;
the computing component is used for processing the information in the real-time capturing component and generating information for guiding the next welding process;
a control component for controlling the operation of and information interaction between the real-time capture component, the laser welding component, and the computation component.
Based on the technical scheme, the four basic components are combined to jointly realize the laser welding method for real-time visual acquisition. Wherein the computing component and the control component may be integrated.
In another embodiment, the electronic device adopting the above scheme is further included, and the electronic device is characterized in that:
comprises a processor and a memory;
the memory stores machine executable instructions executable by the processor;
the processor may execute the machine-executable instructions to implement the method.
Based on the technical scheme, a set of computer control system is formed to meet the specific implementation of the method.
In another embodiment, a computer-readable storage medium employing the above-described scheme is also included, on which a computer program is stored;
characterized in that said computer program realizes said method when being executed by a processor.
Based on the technical scheme, the laser welding method with real-time vision acquisition has good portability, and can be transplanted to different laser devices as a component.
According to the technical scheme, the problems that the vision positioning system cannot be substantially coaxial and processing time delay exists between the vision positioning system and the laser system when the vision positioning system is adopted in the laser welding process are solved, the welding precision in the laser welding process is improved, and the reliability of products with strict requirements on the welding precision is further improved.
Drawings
The present disclosure will be described in further detail below with reference to the drawings and preferred embodiments, but those skilled in the art will appreciate that the drawings are only drawn for the purpose of illustrating the preferred embodiments and therefore should not be taken as limiting the scope of the present disclosure. Furthermore, unless specifically stated otherwise, the drawings are merely schematic representations based on conceptual representations of elements or structures depicted and may contain exaggerated displays and are not necessarily drawn to scale.
FIG. 1 is an embodiment of the present invention.
FIG. 2 is another embodiment of the present invention.
Detailed Description
The present disclosure is described in detail below with reference to fig. 1 and 2.
In order to make the objects, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the disclosure and are not intended to limit the disclosure.
The utility model provides a laser welding method of real-time vision collection can eliminate the great and time delay problem of offset that adopts vision positioning system to exist in the laser welding process, improves the welding precision among the automatic laser welding process, has improved the welding precision of product among the laser welding process.
Fig. 1 is one embodiment 1 of the present disclosure.
Specifically, in the laser welding process of visual positioning, in the prior art, after the laser runs for a period of time according to the welding track, the image between the laser point and the point actually required to be welded is collected through an image capturing system. And then processing the captured pattern through an image processing system to obtain the offset of the laser welding. And transmitting the offset to a control system, and finally adjusting the angle of a galvanometer in the butt joint by the control system to enable the laser beam to be positioned at the position actually required to be welded. In the process, a certain time is needed for collecting and processing the image, and a certain time is needed for adjusting the offset, so that unnecessary time waste exists in the laser running process, and the welding process is influenced. According to the method, in the process that the laser runs according to the welding track, the offset of the laser is collected and calculated in real time, the average value or the number of digits and the like of the laser in the running process are obtained, the numerical value representative of the real-time offset in the laser welding process is obtained, then the welding track of the next section is updated on the basis of the numerical value, and the offset is corrected. Because the running track of the section and the running track of the lower section are continuously carried out, the time delay problem in the laser welding process adopting visual positioning in the prior art can be eliminated, and information collection and welding track correction can be carried out in real time in the laser welding process, so that the aim of improving welding precision is fulfilled, and the reliability of products with strict requirements on precision is improved
Further, on the basis of embodiment 1, the laser system and the capture system are coaxial with each other in a coaxial manner, thereby forming embodiment 2.
Specifically, the visual positioning system has paraxial and coaxial components. In order to further improve the welding precision in the laser welding process. Before laser incidence, coupling is formed between the laser beam and the capture beam through a refraction lens, and the laser beam and the capture beam are coaxially emitted out, so that the synchronism between the capture system and the laser system is ensured. If a paraxial capture system is adopted, the laser beam and the capture beam are emitted separately, so that a certain offset exists between the capture system and the laser system due to environment or equipment in the synchronization process, and the welding precision is reduced in the welding process. When the coaxial system is used, the deviation caused by the paraxial system can be effectively eliminated, the synchronous real-time performance between the laser system and the capture system can be ensured, the measurement accuracy and the real-time performance are further improved, and the welding precision in the laser welding process is improved.
Further, on the basis of example 1, the output power of the welding was determined, resulting in example 3, as shown in fig. 2.
Specifically, the process of analyzing and calculating the captured image further comprises the calculation of the fusion depth variation. The power of the positive and negative butt welding machines is adjusted through the fusion depth variation. For example, when the penetration change amount is negative, it turns out that the effective penetration of the weld is not sufficient and requires increasing the output power of the laser, and conversely, the output power of the laser needs to be decreased.
Further, on the basis of the above-described embodiment, the welding locus is further defined, and a specific embodiment 4 is formed.
Specifically, different welding tracks are generally selected according to the characteristics of materials in the laser welding process. The welding track is preset. The method comprises the steps of providing a master plate for determining the next section of welding track in the laser welding method for visual real-time acquisition through a preset welding track, and updating the next section of welding track in real time through the welding track of the master plate and the real-time offset. The welding operation track of the next section can be determined according to the original welding track after the offset is corrected; the welding operation track of the next section can be determined by the mode of fitting the track and correcting the offset in the operation process of the welding track, or the welding operation track of the next section can be generated by other modes, so long as the offset is corrected while the continuity of the upper and lower sections of tracks is met. On the basis of the preset welding track, an initial welding track is further arranged, the initial welding track is used for driving the laser to adjust the operation of the track when no offset exists, and meanwhile offset data collected in real time are provided for the operation of the next welding track. The ordered proceeding of the laser welding process is ensured by the design of the preset welding track and the initial welding track.
Further, on the basis of example 4, determination of the welding time is added to form example 5.
Specifically, a certain time is required for capturing, processing, and calculating the offset amount of the image. In order to meet the consistency of the upper and lower sections of the operation tracks, the operation time of the welding track determined according to the operation time is more than the unit time for calculating the offset for at least one time and the unit time for determining the next section of the operation track. Generally, in order to ensure the real-time performance and accuracy of the offset calculation, the offset should be captured, processed and calculated at least more than 2 times in real time, and a most representative offset is determined by taking an average value or selecting a number of digits, so as to confirm the running track of the next segment on the basis of the offset. And the welding time of the laser device running according to a certain track is not too long, so that the welding precision is prevented from being influenced by too large offset in the welding process. Through the embodiment, each section of welding operation track corresponds to reasonable welding time, so that the real-time performance and the continuity in the laser automatic welding process are realized, and the welding precision is ensured.
Further, the welding time was further limited in addition to example 5, to form example 6.
Specifically, the laser is welded at different welding tracks according to the welding time, and the welding offset is different. Therefore, the welding time needs to be determined according to the offset, and the phenomenon that when the offset is too large, the welding is still operated for a long time, so that the welding precision is reduced is avoided. For example, 0.1mm is set as an allowable welding offset, when the calculated offset is within 0.1mm, the next welding track can be operated according to the standard welding time, but when the offset is greater than 0.1mm, the first welding time is corrected, the corrected second welding time is used for operating the next welding track, so that the situation that when the offset is large, the first welding time is still operated, and the welding precision of laser welding is reduced is avoided.
Further, in addition to example 6, determination of the calculation time was added to form example 7.
Specifically, since the standard welding time is corrected, the calculation times of the offset should be changed correspondingly, and if the welding time after correction is greater than the standard welding time, the calculation times of the offset should be increased correspondingly, so that the total calculation time does not exceed the welding time after correction. Similarly, when the welding time after correction is less than the standard welding time, the offset should be reduced correspondingly, and the total operation time does not exceed the welding time after correction. By the embodiment, the calculation of the offset in the welding process can be carried out in real time without disturbing the operation rhythm of the welding track, and the welding precision in the laser welding process is improved.
Further, on the basis of the above-described embodiment, the above-described method was applied to an actual apparatus to form embodiment 8.
In particular, real-time images of the welding process are collected by a capture component, such as a camera or a CCD camera. Through the laser welding subassembly, adjust the angle and the position of laser, X axle, Y axle galvanometer in the laser head are adjusted to realize that the laser moves according to the orbit specifically. And processing and calculating the image information through the processing assembly to obtain real-time offset information. And the control component is used for controlling the information exchange and operation among the components. The four components jointly realize the laser welding method of real-time visual acquisition through at least the capturing component, the laser welding component, the operation component and the control component, wherein the operation component and the control component can be integrated into a processing component.
On the basis of the above-described embodiment, the above-described method is applied to the field of computers to form embodiment 9.
In particular, a processor and a memory are included. The memory is used for storing instructions capable of being executed by the processor, and the processor is used for processing the executable instructions to realize the embodiment.
On the basis of the above embodiment, the above method is applied to a portable storage medium, resulting in embodiment 10.
Specifically, the storage medium contains a computer program. The above-described embodiments may be implemented when the computer program is executed by a processor. The method can be conveniently transplanted to different lasers through a portable storage medium.
The present disclosure has been described in detail above, and the principles and embodiments of the present disclosure have been explained herein using specific examples, which are provided only to assist understanding of the present disclosure and the core concepts. It should be noted that, for those skilled in the art, without departing from the principle of the present disclosure, several improvements and modifications can be made to the present disclosure, and these improvements and modifications also fall into the protection scope of the claims of the present disclosure.
Claims (10)
1. A real-time visually acquired laser welding method, the method comprising:
the image capturing means that the image capturing system captures the welding information in real time in an image information mode when the laser welding system runs according to the welding track;
determining welding variation, wherein the welding variation is obtained by extracting and analyzing image information acquired by the image capturing system, calculating the actual welding condition in the welding process and comparing the actual welding condition with the change of a preset welding process;
and re-determining the welding program, wherein the re-determined welding program is a welding program for correcting the actual welding condition of the laser welding system according to the determined welding variation and enabling the welding program to be corrected to a preset program. (ii) a
And laser welding, wherein the laser welding system welds the welding material according to the determined welding program again.
2. The real-time visually captured laser welding method as defined in claim 1, wherein said image capturing further comprises coupling a laser welding system and an image capturing system;
the coupling of the laser welding system and the image capturing system means that before laser welding, the light path of the laser welding system is coupled with the light path of the image capturing system, so that the two light paths of the laser welding system and the image capturing system are coaxial;
the coaxiality of the optical paths of the laser welding system and the image capturing system means that at least part of the optical paths between the laser welding system and the image capturing system are coaxial.
3. The real-time vision-captured laser welding method according to claim 1, wherein the determined welding variation comprises a welding track offset and/or a penetration variation;
extracting and analyzing image information obtained by capturing the image, and calculating the fusion depth variation among different welding points in the welding process;
the welding track offset refers to the offset variable quantity of the actual welding and the preset welding track in the welding process by extracting and analyzing the image information acquired by the image capturing system.
4. The real-time vision-captured laser welding method according to any one of claims 1 to 3, wherein the welding program includes a welding trajectory and/or a welding penetration;
the welding track comprises a preset welding track and an initial welding track;
the preset welding track is determined according to welding requirements;
the initial welding track is a first section of welding track running according to the preset welding track;
the welding track offset is obtained according to the comparison between the first section of welding track and a preset welding track;
determining the welding track again according to the track offset and the preset welding track;
and the laser welding system performs laser welding in due time according to the determined welding track again.
5. The real-time visually captured laser welding method of claim 4, wherein said re-determining a welding program further comprises determining a welding time;
the welding time refers to the time of the laser running according to the welding track;
wherein the welding time is greater than a time for the image capture system to determine the weld trajectory offset, the penetration change, the weld trajectory, and the output power.
6. The real-time visually-captured laser welding method of claim 5, wherein the welding time includes at least a first welding time and a second welding time;
when the offset and the penetration variation are within an allowable range, the laser in the laser welding system runs according to the welding track;
and the second welding time refers to that when the welding track offset and/or the penetration variation exceeds the allowable range, the laser welding system corrects the preset welding program trace according to the welding track offset and/or the penetration variation, and determines the welding time of the corrected welding track again.
7. The real-time visually-captured laser welding method of claim 6, further comprising at least a first operating time and a second operating time;
wherein the first operation time refers to the time for determining the offset and/or the melting depth variation;
the second operation time refers to the time for determining the welding track and/or the output power;
wherein the first calculation time and the second calculation time are changed according to a second welding time.
8. An apparatus for applying the real-time visually-captured laser welding method of any one of claims 1-7, the apparatus comprising:
the real-time capturing module is used for capturing real-time information in the laser welding process;
the laser welding assembly is used for welding a welding material;
the operation component is used for processing the information in the real-time capturing component and generating information for guiding the next welding process;
a control component for controlling the operation of and information interaction between the real-time capture component, the laser welding component, and the computation component.
9. An electronic device comprising a processor and a memory;
the memory stores machine executable instructions executable by the processor;
the processor may execute the machine-executable instructions to implement the method of any of claims 1-7.
10. A computer-readable storage medium having stored thereon a computer program;
characterized in that the computer program, when executed by a processor, implements the method of any one of claims 1-7.
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